CN114559447A - Intelligent robot suitable for removing rust in equipment and control method thereof - Google Patents
Intelligent robot suitable for removing rust in equipment and control method thereof Download PDFInfo
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- CN114559447A CN114559447A CN202210304375.1A CN202210304375A CN114559447A CN 114559447 A CN114559447 A CN 114559447A CN 202210304375 A CN202210304375 A CN 202210304375A CN 114559447 A CN114559447 A CN 114559447A
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- rust
- roughness
- intelligent robot
- rust removal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent robot suitable for removing rust in equipment, which comprises: a housing; the transmission mechanism is arranged on the shell; the rotating shaft is rotatably connected with the shell through the transmission mechanism; the roughness detection system is arranged on the rotating shaft; the derusting mechanism is arranged on the rotating shaft; the rust removing mechanism comprises a plurality of electric rust removing brushes which are uniformly distributed along the periphery of the rotating shaft through fixing rods; the dust removal mechanism is arranged on the rotating shaft; the illuminating mechanism is arranged on the shell; the moving mechanism is arranged on the shell; the positioning system is arranged on the shell; and the control mechanism is arranged on the shell and is respectively connected with the transmission mechanism, the roughness detection system, the electric rust removing brush, the dust removing mechanism, the illuminating mechanism and the moving mechanism. The invention also discloses a control method of the intelligent robot. The invention can reduce the construction cost, simplify the construction process and reduce the labor intensity of workers.
Description
Technical Field
The invention belongs to the technical field of rust removal, and particularly relates to an intelligent robot suitable for removing rust in equipment and a control method thereof.
Background
The internal rust removal of the equipment crater is generally divided into two types: the diameter is larger than 600mm, and manual rust removal is adopted; the diameter is less than 600mm, and stainless steel is lined in the position of the nozzle to prevent corrosion. The stainless steel liner is adopted for corrosion prevention, so that the material cost is increased, the welding difficulty is improved, and the argon filling protection is difficult to implement and has poor protection effect when the equipment is long.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides an intelligent robot suitable for removing rust in equipment and a control method thereof, so as to realize intelligent rust removal in equipment craters, reduce the difficulty of pipeline construction and save material cost.
The invention provides an intelligent robot suitable for removing rust in equipment, which comprises:
a housing;
the transmission mechanism is arranged on the shell;
the rotating shaft is rotatably connected with the shell through the transmission mechanism;
the roughness detection system is arranged on the rotating shaft;
the derusting mechanism is arranged on the rotating shaft; the rust removing mechanism comprises a plurality of electric rust removing brushes which are uniformly distributed along the periphery of the rotating shaft through fixing rods;
the dust removal mechanism is arranged on the rotating shaft;
the illuminating mechanism is arranged on the shell;
the moving mechanism is arranged on the shell;
the positioning system is arranged on the shell;
and the control mechanism is arranged on the shell and is respectively connected with the transmission mechanism, the roughness detection system, the electric rust removing brush, the dust removal mechanism, the illumination mechanism and the moving mechanism.
Preferably, the transmission mechanism comprises a motor, an input end of the motor is electrically connected with the control mechanism, an output end of the motor is connected with a driving wheel, the driving wheel is connected with a driven wheel through a crawler, and the driven wheel is fixedly connected with the rotating shaft.
Preferably, the dust removing mechanism comprises an air compressor and a dust removing device, the dust removing device is connected with the air compressor through a pneumatic rotary joint, and the air compressor is electrically connected with the control mechanism.
Preferably, the lighting mechanism comprises a lighting miner lamp and a rear row of lighting lamps which are respectively arranged on the front side and the rear side of the shell and are electrically connected with the control mechanism.
Preferably, the moving mechanism is a magnetic-type universal wheel; the magnetic universal wheel comprises a fixed seat, a connecting shaft is arranged at the bottom of the fixed seat and provided with magnetic wheels, lateral stabilizing seats are arranged at two ends of the fixed seat, two ends of the connecting shaft are respectively hinged with the lateral stabilizing seats through connecting rods, the magnetic wheels are freely connected with a steering control rod through connecting balls, the steering control rod is rotatably connected with a shell through an installation rod, a motion control system is arranged on the installation rod, and the motion control system is electrically connected with a control mechanism.
Preferably, the roughness detection system comprises a roughness measurement probe, a metal corrosion grade comparison system and a metal rust removal grade comparison system.
Preferably, the illuminating miner lamp and the rear row illuminating lamps are rotatably connected with the shell.
The invention also discloses a control method of the intelligent robot suitable for removing rust in the equipment, which comprises the following steps:
s1, placing the intelligent robot at the entrance of the equipment, and controlling the moving mechanism to enter the equipment and move stably;
s2, in the moving process of the intelligent robot, controlling a roughness detection system to perform roughness detection along the inner peripheral wall of the equipment, transmitting the detected data to a control mechanism, starting to find the position of a welding seam if the detected roughness of the inner wall is within the numerical range of the roughness of the paint, and continuing to move forwards until the rust removal position is found if the detected roughness of the inner wall is within the numerical range of the roughness of the paint;
s3, after reaching the rust removal position, the moving mechanism starts a low-speed mode; the control mechanism determines whether the local part exceeds the standard or the circumference exceeds the standard according to the measured roughness of the inner wall, if the local part exceeds the standard, local derusting is carried out, and if the circumference exceeds the standard, circumferential derusting is carried out; the control mechanism judges the metal corrosion grade according to the picture transmitted by the roughness detection system and gives expected rust removal time;
s4, when local derusting is carried out, controlling a single electric derusting brush to derust, and finishing the derusting operation with set time length; when the circumference rust removal is carried out, the transmission mechanism is started, the rotating shaft is rotated to drive the plurality of electric rust removal brushes to carry out rotary rust removal, and the rust removal operation with set time length is completed;
s5, after local rust removal or circumferential rust removal is completed, starting a dust removal mechanism to complete cleaning operation;
and S6, after the cleaning operation is finished, controlling the roughness detection system to perform roughness detection, transmitting the detected data to the control mechanism, judging the metal corrosion grade by the control mechanism according to the picture transmitted by the roughness detection system, searching the next rust removal position if the metal corrosion grade reaches the specified metal corrosion grade, and giving the second rust removal time by the control mechanism if the metal corrosion grade does not reach the specified metal corrosion grade, and continuing to perform local rust removal or circumferential rust removal until the rust removal is qualified.
Compared with the prior art, the invention has the beneficial effects that: the intelligent robot provided by the invention can automatically finish the internal rust removal of the equipment crater, is rapid, efficient, intelligent, and visible and controllable in internal rust removal quality, solves the problem that the internal rust removal of part of the equipment crater cannot be realized at present, reduces the construction cost, simplifies the construction process, reduces the labor intensity of workers, and pushes the equipment installation to the intelligent and intelligent direction.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
FIG. 2 is a schematic structural diagram of an electric rust removing brush in an embodiment of the invention.
Fig. 3 is a schematic structural diagram of a magnetic-type universal wheel according to an embodiment of the present invention.
The device comprises a shell 1, a shell 2, a motor 3, a control mechanism 4, a driving wheel 5, a crawler belt 6, a driven wheel 7, a rotating shaft 8, a roughness measuring probe 9, an air compressor 10, a dust removal device 11, an electric rust removing brush 12 and a fixing rod, wherein the shell is provided with a groove; 13. an illuminating miner lamp; 14. a rear row of illuminating lamps; 15. a fixed seat; 16. a connecting shaft; 17. a magnetic wheel; 18. a lateral stabilizing base; 19. a connecting rod; 20. a connecting ball; 21. a steering control lever; 22. mounting a rod; 23. a motion control system; 24. a positioning system.
Detailed Description
The following examples are provided to better understand the present invention, not to limit the best mode, and not to limit the content and protection scope of the present invention, and any product that is the same or similar to the present invention and is obtained by combining the present invention with other features of the prior art and the present invention falls within the protection scope of the present invention.
Examples
Referring to fig. 1 to 3, an intelligent robot adapted to remove rust inside an apparatus, includes: the dust removal device comprises a shell 1, wherein a transmission mechanism, a dust removal mechanism, a control mechanism and a positioning system are arranged inside the shell 1, a lighting mechanism is arranged outside the shell 1, and a moving mechanism is arranged at the bottom of the shell 1.
The transmission mechanism comprises a motor 2, the input end of the motor 2 is electrically connected with the control mechanism 3, the output end of the motor 2 is connected with a driving wheel 4, the driving wheel 4 is connected with a driven wheel 6 through a crawler 5, and the driven wheel 6 is fixedly connected with a rotating shaft 7.
The rotating shaft 7 is provided with a roughness detection system 8, a dust removal mechanism and a rust removal mechanism; the roughness detection system is electrically connected with the control mechanism 3 and comprises a roughness measurement probe 8, a metal corrosion grade comparison system and a metal rust removal grade comparison system; the dust removal mechanism comprises an air compressor 9 and a dust removal device 10, the air compressor 9 is installed inside the shell 1, one end of the air compressor is electrically connected with the control mechanism 3, and the other end of the air compressor is connected with the dust removal device 10 through a pneumatic rotary joint. The rust removing mechanism comprises an electric rust removing brush 11 which is provided with a plurality of rust removing brushes, each rust removing brush is fixed on the rotating shaft 7 through a fixing rod 12 and is uniformly distributed along the peripheral part of the rotating shaft 7.
The lighting mechanism comprises two lighting miner lamps 13 and two rear row lighting lamps 14 which are respectively arranged on the front side and the rear side of the shell 1, are rotatably connected with the shell 1 by one hundred eighty degrees and are electrically connected with the control mechanism 3.
Formula universal wheel is inhaled to moving mechanism for magnetism, including fixing base 15, 16 installation magnetic force wheels 17 of connecting axle are passed through to fixing base 15's bottom, fixing base 15's both ends all are equipped with side direction stable seat 18, connecting axle 16's both ends all are connected with two side direction stable seat 18 hinges respectively through connecting rod 19, magnetic force wheels 17 freely are connected with the steering control pole 21 of U-shaped through connecting ball 20, steering control pole 21 is through installation pole 22 and casing 1 rotatable coupling, be equipped with motion control system 23 on the installation pole 22, motion control system 23 and 3 electric connection of control mechanism.
The control mechanism 3 comprises a central control system and a display screen.
The control method of the intelligent robot of the embodiment comprises the following steps:
s1, placing the intelligent robot at an entrance of the equipment, and controlling the magnetic-type universal wheel to enter the equipment and move stably; the motion control system 23 adjusts the inclination angle of the magnetic wheel 17 through the steering control rod 21 according to the curvature condition of the contact surface, and simultaneously adjusts the angle between the lateral stabilizing seat 18 and the fixed seat 15 according to the gradient condition of the inner wall of the equipment, so that the intelligent robot can continuously and stably move;
s2, in the moving process of the intelligent robot, controlling the roughness measuring probe 8 to detect the roughness along the inner peripheral wall of the equipment and transmitting the measured data to the control mechanism 3, if the measured roughness of the inner wall is in the numerical range of the roughness without painting, starting to search the position of a welding seam, and if the measured roughness of the inner wall is in the numerical range of the roughness with painting, continuing to move forwards until a rust removal position is found;
s3, after reaching the rust removal position, starting a low-speed mode of the magnetic universal wheel; the control mechanism 3 determines whether the local part exceeds the standard or the circumference exceeds the standard according to the measured roughness of the inner wall, if the local part exceeds the standard, local derusting is carried out, and if the circumference exceeds the standard, circumferential derusting is carried out; the control mechanism 3 judges the metal corrosion grade according to the picture transmitted by the roughness detection system and gives the expected rust removal time;
s4, when local derusting is carried out, controlling the single electric derusting brush 11 to derust, and finishing the derusting operation with set time length; when the circumference rust removal is carried out, the motor 2 is started, the rotating shaft 7 is rotated to drive the electric rust removal brushes 11 to carry out rotary rust removal, and the rust removal operation with set time length is completed;
s5, after local rust removal or circumferential rust removal is completed, starting the air compressor 9, conveying compressed air to the dust removal device 10 by the air compressor 9, and completing cleaning operation in the circumferential direction by the flowing of the compressed air in the conveying pipe and the cooperation of the pneumatic rotary joint;
s6, after the cleaning operation is finished, controlling the roughness measurement probe 8 to perform roughness detection, transmitting the measured data to the control mechanism 3, judging the metal corrosion grade by the control mechanism 3 according to the picture transmitted by the roughness measurement probe 8, searching the next rust removal position if the metal corrosion grade reaches the specified metal corrosion grade, and if the metal corrosion grade does not reach the specified metal corrosion grade, giving the second rust removal time by the control mechanism 3 and continuously performing local rust removal or circumferential rust removal until the rust removal time is qualified.
The whole working process and related instructions are displayed on a display screen of the control mechanism 3, the pictures are synchronously transmitted to an external display screen through the wireless transmission device, and all the instructions of the intelligent robot can be modified, stopped and the like on the display screen. The route of marcing of formula universal wheel is all noted in positioning system 24 to magnetism, and when intelligent robot accomplished all rust cleaning operations, central control system independently called the record in positioning system 24, carries out reverse path planning to control magnetism to inhale the formula universal wheel and remove, get back to the entrance. When special working conditions occur, the lateral stabilizing seat 18 of the magnetic universal wheel can keep the stability of the intelligent robot.
The inside rust cleaning of equipment crater can be accomplished by oneself to this embodiment, and quick, high efficiency, intelligence, inside rust cleaning quality are visible and controllable, solve the inside difficult problem that can't the rust cleaning of present partial equipment crater, reduce construction cost, simplify the construction flow, reduce workman's intensity of labour, with equipment fixing to intellectuality, the direction of intellectuality impels.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields, and are within the scope of the present invention.
Claims (8)
1. The utility model provides an intelligent robot suitable for inside rust cleaning of equipment which characterized in that includes:
a housing;
the transmission mechanism is arranged on the shell;
the rotating shaft is rotatably connected with the shell through the transmission mechanism;
the roughness detection system is arranged on the rotating shaft;
the derusting mechanism is arranged on the rotating shaft; the rust removing mechanism comprises a plurality of electric rust removing brushes which are uniformly distributed along the periphery of the rotating shaft through fixing rods;
the dust removal mechanism is arranged on the rotating shaft;
the illuminating mechanism is arranged on the shell;
the moving mechanism is arranged on the shell;
the positioning system is arranged on the shell;
and the control mechanism is arranged on the shell and is respectively connected with the transmission mechanism, the roughness detection system, the electric rust removing brush, the dust removing mechanism, the illuminating mechanism and the moving mechanism.
2. The intelligent robot for removing rust inside equipment according to claim 1, wherein the transmission mechanism comprises a motor, an input end of the motor is electrically connected with the control mechanism, an output end of the motor is connected with a driving wheel, the driving wheel is connected with a driven wheel through a crawler, and the driven wheel is fixedly connected with the rotating shaft.
3. The intelligent robot suitable for removing the rust in the equipment interior according to claim 1, wherein the dust removing mechanism comprises an air compressor and a dust removing device, the dust removing device is connected with the air compressor through a pneumatic rotary joint, and the air compressor is electrically connected with the control mechanism.
4. The intelligent robot for removing rust from inside of equipment according to claim 1, wherein said illumination mechanism comprises an illumination miner lamp and a rear row illumination lamp, which are respectively disposed on the front side and the rear side of said housing and are electrically connected to said control mechanism.
5. The intelligent robot suitable for removing rust in equipment interior according to claim 1, wherein the moving mechanism is a magnetic-type universal wheel; the formula universal wheel is inhaled to magnetism includes the fixing base, connecting axle installation magnetic force wheel is passed through to the bottom of fixing base, the both ends of fixing base all are equipped with the stable seat of side direction, the both ends of connecting axle all through the connecting rod respectively with two the stable seat hinge of side direction is connected, the magnetic force wheel freely is connected with the steering control pole through connecting ball, the steering control pole through the installation pole with casing rotatable coupling, be equipped with motion control system on the installation pole, motion control system with control mechanism electric connection.
6. The intelligent robot suitable for removing rust inside equipment according to claim 1, wherein the roughness detection system comprises a roughness measurement probe, a metal corrosion grade comparison system and a metal rust removal grade comparison system.
7. An intelligent robot suitable for removing rust from inside of equipment as recited in claim 4, wherein said illuminating miner lamp and rear row illuminating lamp are rotatably connected to said housing.
8. The control method of the intelligent robot suitable for removing rust in the interior of equipment as claimed in claims 1-7, characterized by comprising the following steps:
s1, placing the intelligent robot at the entrance of the equipment, and controlling the moving mechanism to enter the equipment and move stably;
s2, in the moving process of the intelligent robot, controlling a roughness detection system to perform roughness detection along the inner peripheral wall of the equipment, transmitting the detected data to a control mechanism, starting to find the position of a welding seam if the detected roughness of the inner wall is within the numerical range of the roughness of the paint, and continuing to move forwards until the rust removal position is found if the detected roughness of the inner wall is within the numerical range of the roughness of the paint;
s3, after reaching the rust removal position, the moving mechanism starts a low-speed mode; the control mechanism determines whether the local part exceeds the standard or the circumference exceeds the standard according to the measured roughness of the inner wall, if the local part exceeds the standard, local derusting is carried out, and if the circumference exceeds the standard, circumferential derusting is carried out; the control mechanism judges the metal corrosion grade according to the picture transmitted by the roughness detection system and gives expected rust removal time;
s4, when local derusting is carried out, controlling a single electric derusting brush to derust, and finishing the derusting operation with set time length; when the circumference rust removal is carried out, the transmission mechanism is started, the rotating shaft is rotated to drive the plurality of electric rust removal brushes to carry out rotary rust removal, and the rust removal operation with set time length is completed;
s5, after local rust removal or circumferential rust removal is completed, starting a dust removal mechanism to complete cleaning operation;
and S6, after the cleaning operation is finished, controlling the roughness detection system to perform roughness detection, transmitting the detected data to the control mechanism, judging the metal corrosion grade by the control mechanism according to the picture transmitted by the roughness detection system, searching the next rust removal position if the metal corrosion grade reaches the specified metal corrosion grade, and giving the second rust removal time by the control mechanism if the metal corrosion grade does not reach the specified metal corrosion grade, and continuing to perform local rust removal or circumferential rust removal until the rust removal is qualified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210304375.1A CN114559447A (en) | 2022-03-25 | 2022-03-25 | Intelligent robot suitable for removing rust in equipment and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210304375.1A CN114559447A (en) | 2022-03-25 | 2022-03-25 | Intelligent robot suitable for removing rust in equipment and control method thereof |
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| CN114559447A true CN114559447A (en) | 2022-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210304375.1A Pending CN114559447A (en) | 2022-03-25 | 2022-03-25 | Intelligent robot suitable for removing rust in equipment and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116184860A (en) * | 2023-04-27 | 2023-05-30 | 北京国领智能科技有限公司 | Magnetic attraction crawler type wall climbing robot dynamics modeling and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06182662A (en) * | 1992-12-21 | 1994-07-05 | Ishikawajima Harima Heavy Ind Co Ltd | Rust removing device for steel plate wall face |
| CN206797508U (en) * | 2017-04-21 | 2017-12-26 | 浙江省特种设备检验研究院 | Derusting and video detection robot in a kind of pressure pipeline |
| CN209288966U (en) * | 2018-12-30 | 2019-08-23 | 沈阳理工大学 | A kind of pipe is interior from variable diameter high speed derusting polishing robot |
| CN111283527A (en) * | 2020-02-26 | 2020-06-16 | 中国铁建重工集团股份有限公司 | Derusting spraying wall-climbing robot |
| CN211100591U (en) * | 2019-11-26 | 2020-07-28 | 陕西化建工程有限责任公司 | Novel practical pipeline rust cleaning dust remover |
| CN211193372U (en) * | 2019-11-19 | 2020-08-07 | 广东技术师范大学 | Walking robot for derusting inner wall of pipe |
| CN113664066A (en) * | 2021-08-20 | 2021-11-19 | 合肥赛欧机械制造有限公司 | Cold-drawn steel tube derusting process |
-
2022
- 2022-03-25 CN CN202210304375.1A patent/CN114559447A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06182662A (en) * | 1992-12-21 | 1994-07-05 | Ishikawajima Harima Heavy Ind Co Ltd | Rust removing device for steel plate wall face |
| CN206797508U (en) * | 2017-04-21 | 2017-12-26 | 浙江省特种设备检验研究院 | Derusting and video detection robot in a kind of pressure pipeline |
| CN209288966U (en) * | 2018-12-30 | 2019-08-23 | 沈阳理工大学 | A kind of pipe is interior from variable diameter high speed derusting polishing robot |
| CN211193372U (en) * | 2019-11-19 | 2020-08-07 | 广东技术师范大学 | Walking robot for derusting inner wall of pipe |
| CN211100591U (en) * | 2019-11-26 | 2020-07-28 | 陕西化建工程有限责任公司 | Novel practical pipeline rust cleaning dust remover |
| CN111283527A (en) * | 2020-02-26 | 2020-06-16 | 中国铁建重工集团股份有限公司 | Derusting spraying wall-climbing robot |
| CN113664066A (en) * | 2021-08-20 | 2021-11-19 | 合肥赛欧机械制造有限公司 | Cold-drawn steel tube derusting process |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116184860A (en) * | 2023-04-27 | 2023-05-30 | 北京国领智能科技有限公司 | Magnetic attraction crawler type wall climbing robot dynamics modeling and control method |
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